xkr1706/HMG-custom

HMG Custom

326 custom G1 humanoid episodes for Box_1, Box_2 and Drill pickup, carry and placement on Table A/B. Recordings include Ego RGB, state43, action35, scene metadata, original eight-phase boundaries and skill-conditioned instructions.

Code and evaluation environments · Dataset schema · Evaluation protocols

Installation, custom-layout training and evaluation connects the official HMG environment/assets and source demonstrations to these recordings. This Hugging Face dataset is public. The GitHub code repository has separate access permissions.

Download

The current PLACE-entry training view is documented in world_he_place_entry_v1. Download the small helpers directly from this public dataset; GitHub access is not required to download the recordings or materialize portable labels:

python -m pip install huggingface_hub
python - <<'PY'
from huggingface_hub import snapshot_download
snapshot_download("xkr1706/HMG-custom", repo_type="dataset",
                  allow_patterns=["tools/download_dataset.py", "tools/release.py"],
                  local_dir="hmg-custom-downloader")
PY
python hmg-custom-downloader/tools/download_dataset.py \
  --output /data/hmg-custom --view world_he_place_entry_v1

For an existing checkout of the code repository, the historical views can also be downloaded with its helper:

git clone https://github.com/xkr1209/HMG-custom.git
cd HMG-custom
python -m pip install -e '.[data]'
hf auth login
python tools/download_dataset.py --output /data/hmg-custom --view mixed-326

No token is required for this public dataset. The full recording bundle is 43.86 GiB. The helper downloads the selected view at a pinned Hub commit, verifies the completion receipt and HDF5 checksums, and creates portable annotations/splits under training_views/<view>/. Use a new or empty output directory; interrupted downloads resume at the same revision. Original sidecars remain unchanged. Add --revision <dataset-commit-sha> for an exact release. If you already downloaded an older release, keep it intact and use a new destination for a new revision.

Dataset versions

View	Episodes	Full physical success	PLACE-reached prefix	Train / validation
table-ab-206	206	206	0	175 / 31
mixed-266	266	260	6	226 / 40
mixed-326	326	298	28	277 / 49
world_he_place_entry_v1	326	298	28	277 / 49

world_he_place_entry_v1 is a new annotation/masking view of the same 326 recordings, not another 326 episodes to concatenate. For all 28 successful-prefix episodes, it uses valid actions through PREPLACE and excludes PLACE/RELEASE beginning at the PLACE-entry boundary. This shortens 20 episodes relative to the published mixed-326 labels; the other eight partial episodes were already cut at that boundary. Raw HDF5, videos, original eight-phase boundaries and physical success/failure labels remain unchanged.

The views are cumulative, not independent collections to concatenate. mixed-326 contains 124 Box_1, 80 Box_2 and 122 Drill episodes, evenly divided between destinations within each object. Its 28 partial episodes keep physical failure labels, failed-tail masks and RGB provenance; reaching PLACE is not full physical task success.

The original table-ab-206 contains 84 Box_1 (42 per destination), 40 Box_2 (20 per destination) and 82 Drill episodes (41 per destination), totaling 164.8 minutes of interaction by control timestamps.

Observation, action and labels

Field	Shape	Meaning
rgb	[N_obs, H, W, 3]	20 Hz Ego RGB, uint8
state	[N_obs, 43]	Observation-aligned robot state
action	[N_obs, 35]	20 Hz observation-aligned actions
control_action	[N_ctrl, 35]	50 Hz control actions; use for imitation targets
timestamp, control_timestamp	[N_obs], [N_ctrl]	Observation/control timestamps

Action order: waist3 + left_arm7 + left_hand7 + right_arm7 + right_hand7 + navigation3 + height. All 35 commands are retained in the recordings. Upper-body policies can supervise upper31 + height while an external Navigator owns navigation3; action35 policies can supervise navigation as well. Choose that ownership explicitly in the trainer/runtime rather than changing the recordings.

Semantic skill	Source phases	Example instruction
PICK	NAVIGATE, PREGRASP, GRASP, LIFT	Pick up the box_1.
HOLD	CARRY	Carry the drill to Table A.
PLACE	PREPLACE, PLACE, RELEASE	Place the box_2 on the table.

H30 action chunks must respect semantic boundaries and each segment's valid_end; failed PLACE/RELEASE tails are not imitation targets.

Files and integrity

Files preserve their workspace-relative data/humanoidmimicgen/datasets/ layout. metadata/views/ provides original sidecars and layout-grouped splits. Use the generated training_views/ sidecars for portable local paths. Original HMG native Box_1 supplement references are separate from these 326 custom recordings.

metadata/payload_manifest.json indexes the recording bundle. metadata/upload_content_hashes.json records every payload SHA256, including videos. upload_status.json records completion after all expected remote paths have been checked; it remains complete=false during a resumable upload.

HMG source notices are retained under licenses/HMG/; upstream robot, scene and policy resources retain their respective terms.